A 2P3R robot for up-down material of vertical machining center is designed in self-creating. The first, based on the established of D-H coordinate system, by adopting Lagrangian mechanics method, the dynamics equation of robot was established. The three dimensional (3D) solid assembly model of the 2P3R robot was established in UG software and imported into ADAMS to make dynamics simulation analysis of loading process. In the ADAMS, metal was defined and constraints and drive were added. The changing curves of the force/torque of each joint for 2P3R robot are gained in simulation analysis process of the feeding and unloading job by ADAMS. Research results provide the theoretical basis and reference for the dynamic design and control of 2P3R robot.